Title :
Model Predictive Control Applied into Time Delay Capsubot System
Author :
Chen, Wei ; Fang, Min ; Yu, Hongnian
Author_Institution :
Dept. of Autom., HeFei Univ. of Technol., Hefei, China
Abstract :
In this paper, a model predictive controller for time delay capsubot system is presented. Linearized dynamics is used to predictive future system behavior and a control law is derived from a quadratic cost function penalizing the system tracking error and the control effort. It is noted that model predictive control has advantages over state feedback law because of consideration of constraints on inputs or state vectors. Examples are given to illustrate the effectiveness of the approach. Some ideas for future work are also discussed.
Keywords :
closed loop systems; delay systems; microrobots; mobile robots; predictive control; robot dynamics; state feedback; tracking; capsule robot; control law; linearized dynamics; model predictive control; quadratic cost function; state feedback law; system tracking error; time delay capsubot system; Automatic control; Communication networks; Communication system control; Control systems; Delay effects; Equations; Optimal control; Predictive control; Predictive models; Propulsion; capsubot system; model predictive control; time delay system;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics, 2009. IHMSC '09. International Conference on
Conference_Location :
Hangzhou, Zhejiang
Print_ISBN :
978-0-7695-3752-8
DOI :
10.1109/IHMSC.2009.36
